pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 > Class Template Reference

RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K. More...

#include <pcl/filters/radius_outlier_removal.h>

Inheritance diagram for pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >:

Collaboration diagram for pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >:

List of all members.

Public Types
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	RadiusOutlierRemoval (bool extract_removed_indices=false)
	Empty constructor.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.
double	getRadiusSearch ()
	Get the sphere radius used for determining the k-nearest neighbors.
void	setMinNeighborsInRadius (int min_pts)
	Set the minimum number of neighbors that a point needs to have in the given search radius in order to be considered an inlier (i.e., valid).
double	getMinNeighborsInRadius ()
	Get the minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier and avoid being filtered.
IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed.
void	filter (PointCloud2 &output)
	Calls the filtering method and returns the filtered dataset in output.
void	setInputCloud (const PointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloud2ConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.

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Detailed Description

template<>
class pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >

RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K.

Note:

setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.

Author:

Radu Bogdan Rusu

Definition at line 188 of file radius_outlier_removal.h.

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Member Typedef Documentation

typedef PointIndices::ConstPtr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesConstPtr [inherited]

Definition at line 280 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesPtr [inherited]

Definition at line 279 of file pcl_base.h.

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Constructor & Destructor Documentation

pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::RadiusOutlierRemoval

(

bool

extract_removed_indices = false

)

[inline]

Empty constructor.

Definition at line 205 of file radius_outlier_removal.h.

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Member Function Documentation

void pcl::Filter< sensor_msgs::PointCloud2 >::filter

(

PointCloud2 &

output

)

[inherited]

Calls the filtering method and returns the filtered dataset in output.

Parameters:

[out]

output

the resultant filtered point cloud dataset

Reimplemented in pcl::FilterIndices< sensor_msgs::PointCloud2 >.

IndicesPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getIndices

(

)

[inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 329 of file pcl_base.h.

PointCloud2ConstPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getInputCloud

(

)

[inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 303 of file pcl_base.h.

double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::getMinNeighborsInRadius

(

)

[inline]

Get the minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier and avoid being filtered.

Definition at line 242 of file radius_outlier_removal.h.

double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::getRadiusSearch

(

)

[inline]

Get the sphere radius used for determining the k-nearest neighbors.

Definition at line 223 of file radius_outlier_removal.h.

IndicesConstPtr const pcl::Filter< sensor_msgs::PointCloud2 >::getRemovedIndices

(

)

[inline, inherited]

Get the point indices being removed.

Reimplemented in pcl::FilterIndices< sensor_msgs::PointCloud2 >.

Definition at line 181 of file filter.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setIndices

(

const IndicesPtr &

indices

)

[inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices

a pointer to the vector of indices that represents the input data.

Definition at line 309 of file pcl_base.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setIndices

(

const PointIndicesConstPtr &

indices

)

[inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices

a pointer to the vector of indices that represents the input data.

Definition at line 320 of file pcl_base.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setInputCloud

(

const PointCloud2ConstPtr &

cloud

)

[inherited]

Provide a pointer to the input dataset.

Parameters:

cloud

the const boost shared pointer to a PointCloud message

void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::setMinNeighborsInRadius

(

int

min_pts

)

[inline]

Set the minimum number of neighbors that a point needs to have in the given search radius in order to be considered an inlier (i.e., valid).

Parameters:

min_pts

the minimum number of neighbors

Definition at line 233 of file radius_outlier_removal.h.

void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::setRadiusSearch

(

double

radius

)

[inline]

Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.

Parameters:

radius

the sphere radius that is to contain all k-nearest neighbors

Definition at line 216 of file radius_outlier_removal.h.

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The documentation for this class was generated from the following file:

• /usr/src/RPM/BUILD/PCL-1.6.0-Source/filters/include/pcl/filters/radius_outlier_removal.h